mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-13 15:44:36 +00:00
* Adjustment: Initial CMake reworking.
This commit is contained in:
Robert MacGregor
parent
516163fd5d
commit
d7cdf54661
5394 changed files with 2615532 additions and 8711 deletions
885
Engine/lib/bullet/examples/Constraints/ConstraintDemo.cpp
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885
Engine/lib/bullet/examples/Constraints/ConstraintDemo.cpp
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2015 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "ConstraintDemo.h"
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#include "btBulletDynamicsCommon.h"
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#include "LinearMath/btIDebugDraw.h"
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#include <stdio.h> //printf debugging
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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///AllConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
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class AllConstraintDemo : public CommonRigidBodyBase
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{
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//keep track of variables to delete memory at the end
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void setupEmptyDynamicsWorld();
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public:
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AllConstraintDemo(struct GUIHelperInterface* helper);
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virtual ~AllConstraintDemo();
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virtual void initPhysics();
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virtual void exitPhysics();
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virtual void resetCamera()
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{
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float dist = 27;
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float pitch = 720;
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float yaw = 30;
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float targetPos[3]={2,0,-10};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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virtual void keyboardCallback(unsigned char key, int x, int y);
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// for cone-twist motor driving
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float m_Time;
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class btConeTwistConstraint* m_ctc;
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};
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const int numObjects = 3;
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#define ENABLE_ALL_DEMOS 1
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#define CUBE_HALF_EXTENTS 1.f
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#define SIMD_PI_2 ((SIMD_PI)*0.5f)
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#define SIMD_PI_4 ((SIMD_PI)*0.25f)
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btTransform sliderTransform;
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btVector3 lowerSliderLimit = btVector3(-10,0,0);
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btVector3 hiSliderLimit = btVector3(10,0,0);
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btRigidBody* d6body0 =0;
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btHingeConstraint* spDoorHinge = NULL;
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btHingeConstraint* spHingeDynAB = NULL;
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btGeneric6DofConstraint* spSlider6Dof = NULL;
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static bool s_bTestConeTwistMotor = false;
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void AllConstraintDemo::setupEmptyDynamicsWorld()
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{
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m_collisionConfiguration = new btDefaultCollisionConfiguration();
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_broadphase = new btDbvtBroadphase();
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m_solver = new btSequentialImpulseConstraintSolver();
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m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
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}
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void AllConstraintDemo::initPhysics()
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{
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m_guiHelper->setUpAxis(1);
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m_Time = 0;
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setupEmptyDynamicsWorld();
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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//btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
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btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),40);
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-56,0));
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btRigidBody* groundBody;
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groundBody= createRigidBody(0, groundTransform, groundShape);
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btCollisionShape* shape = new btBoxShape(btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
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m_collisionShapes.push_back(shape);
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btTransform trans;
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trans.setIdentity();
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trans.setOrigin(btVector3(0,20,0));
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float mass = 1.f;
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#if ENABLE_ALL_DEMOS
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///gear constraint demo
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#define THETA SIMD_PI/4.f
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#define L_1 (2 - tan(THETA))
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#define L_2 (1 / cos(THETA))
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#define RATIO L_2 / L_1
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btRigidBody* bodyA=0;
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btRigidBody* bodyB=0;
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{
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btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.25,0.2));
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btCollisionShape* cylB = new btCylinderShape(btVector3(L_1,0.025,L_1));
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btCompoundShape* cyl0 = new btCompoundShape();
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cyl0->addChildShape(btTransform::getIdentity(),cylA);
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cyl0->addChildShape(btTransform::getIdentity(),cylB);
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btScalar mass = 6.28;
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btVector3 localInertia;
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cyl0->calculateLocalInertia(mass,localInertia);
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btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
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ci.m_startWorldTransform.setOrigin(btVector3(-8,1,-8));
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btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
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m_dynamicsWorld->addRigidBody(body);
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body->setLinearFactor(btVector3(0,0,0));
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body->setAngularFactor(btVector3(0,1,0));
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bodyA = body;
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}
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{
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btCollisionShape* cylA = new btCylinderShape(btVector3(0.2,0.26,0.2));
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btCollisionShape* cylB = new btCylinderShape(btVector3(L_2,0.025,L_2));
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btCompoundShape* cyl0 = new btCompoundShape();
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cyl0->addChildShape(btTransform::getIdentity(),cylA);
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cyl0->addChildShape(btTransform::getIdentity(),cylB);
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btScalar mass = 6.28;
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btVector3 localInertia;
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cyl0->calculateLocalInertia(mass,localInertia);
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btRigidBody::btRigidBodyConstructionInfo ci(mass,0,cyl0,localInertia);
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ci.m_startWorldTransform.setOrigin(btVector3(-10,2,-8));
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btQuaternion orn(btVector3(0,0,1),-THETA);
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ci.m_startWorldTransform.setRotation(orn);
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btRigidBody* body = new btRigidBody(ci);//1,0,cyl0,localInertia);
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body->setLinearFactor(btVector3(0,0,0));
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btHingeConstraint* hinge = new btHingeConstraint(*body,btVector3(0,0,0),btVector3(0,1,0),true);
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m_dynamicsWorld->addConstraint(hinge);
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bodyB= body;
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body->setAngularVelocity(btVector3(0,3,0));
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m_dynamicsWorld->addRigidBody(body);
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}
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btVector3 axisA(0,1,0);
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btVector3 axisB(0,1,0);
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btQuaternion orn(btVector3(0,0,1),-THETA);
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btMatrix3x3 mat(orn);
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axisB = mat.getRow(1);
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btGearConstraint* gear = new btGearConstraint(*bodyA,*bodyB, axisA,axisB,RATIO);
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m_dynamicsWorld->addConstraint(gear,true);
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#endif
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#if ENABLE_ALL_DEMOS
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//point to point constraint with a breaking threshold
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{
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trans.setIdentity();
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trans.setOrigin(btVector3(1,30,-5));
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createRigidBody( mass,trans,shape);
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trans.setOrigin(btVector3(0,0,-5));
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btRigidBody* body0 = createRigidBody( mass,trans,shape);
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trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
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mass = 1.f;
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// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
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btVector3 pivotInA(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,0);
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btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
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m_dynamicsWorld->addConstraint(p2p);
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p2p ->setBreakingImpulseThreshold(10.2);
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p2p->setDbgDrawSize(btScalar(5.f));
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}
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#endif
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#if ENABLE_ALL_DEMOS
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//point to point constraint (ball socket)
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{
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btRigidBody* body0 = createRigidBody( mass,trans,shape);
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trans.setOrigin(btVector3(2*CUBE_HALF_EXTENTS,20,0));
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mass = 1.f;
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// btRigidBody* body1 = 0;//createRigidBody( mass,trans,shape);
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// btRigidBody* body1 = createRigidBody( 0.0,trans,0);
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//body1->setActivationState(DISABLE_DEACTIVATION);
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//body1->setDamping(0.3,0.3);
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btVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS);
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btVector3 axisInA(0,0,1);
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// btVector3 pivotInB = body1 ? body1->getCenterOfMassTransform().inverse()(body0->getCenterOfMassTransform()(pivotInA)) : pivotInA;
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// btVector3 axisInB = body1?
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// (body1->getCenterOfMassTransform().getBasis().inverse()*(body1->getCenterOfMassTransform().getBasis() * axisInA)) :
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body0->getCenterOfMassTransform().getBasis() * axisInA;
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#define P2P
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#ifdef P2P
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btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,pivotInA);
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//btTypedConstraint* p2p = new btPoint2PointConstraint(*body0,*body1,pivotInA,pivotInB);
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//btTypedConstraint* hinge = new btHingeConstraint(*body0,*body1,pivotInA,pivotInB,axisInA,axisInB);
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m_dynamicsWorld->addConstraint(p2p);
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p2p->setDbgDrawSize(btScalar(5.f));
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#else
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btHingeConstraint* hinge = new btHingeConstraint(*body0,pivotInA,axisInA);
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//use zero targetVelocity and a small maxMotorImpulse to simulate joint friction
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//float targetVelocity = 0.f;
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//float maxMotorImpulse = 0.01;
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float targetVelocity = 1.f;
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float maxMotorImpulse = 1.0f;
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hinge->enableAngularMotor(true,targetVelocity,maxMotorImpulse);
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m_dynamicsWorld->addConstraint(hinge);
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hinge->setDbgDrawSize(btScalar(5.f));
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#endif //P2P
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}
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#endif
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#if ENABLE_ALL_DEMOS
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{
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btTransform trans;
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trans.setIdentity();
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btVector3 worldPos(-20,0,30);
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trans.setOrigin(worldPos);
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInB = btTransform::getIdentity();
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btRigidBody* pRbA1 = createRigidBody(mass, trans, shape);
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// btRigidBody* pRbA1 = createRigidBody(0.f, trans, shape);
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pRbA1->setActivationState(DISABLE_DEACTIVATION);
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// add dynamic rigid body B1
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worldPos.setValue(-30,0,30);
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trans.setOrigin(worldPos);
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btRigidBody* pRbB1 = createRigidBody(mass, trans, shape);
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// btRigidBody* pRbB1 = createRigidBody(0.f, trans, shape);
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pRbB1->setActivationState(DISABLE_DEACTIVATION);
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// create slider constraint between A1 and B1 and add it to world
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btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true);
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// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false);
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spSlider1->setLowerLinLimit(-15.0F);
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spSlider1->setUpperLinLimit(-5.0F);
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// spSlider1->setLowerLinLimit(5.0F);
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// spSlider1->setUpperLinLimit(15.0F);
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// spSlider1->setLowerLinLimit(-10.0F);
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// spSlider1->setUpperLinLimit(-10.0F);
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spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F);
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spSlider1->setUpperAngLimit( SIMD_PI / 3.0F);
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m_dynamicsWorld->addConstraint(spSlider1, true);
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spSlider1->setDbgDrawSize(btScalar(5.f));
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}
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#endif
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#if ENABLE_ALL_DEMOS
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//create a slider, using the generic D6 constraint
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{
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mass = 1.f;
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btVector3 sliderWorldPos(0,10,0);
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btVector3 sliderAxis(1,0,0);
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btScalar angle=0.f;//SIMD_RADS_PER_DEG * 10.f;
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btMatrix3x3 sliderOrientation(btQuaternion(sliderAxis ,angle));
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trans.setIdentity();
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trans.setOrigin(sliderWorldPos);
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//trans.setBasis(sliderOrientation);
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sliderTransform = trans;
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d6body0 = createRigidBody( mass,trans,shape);
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d6body0->setActivationState(DISABLE_DEACTIVATION);
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btRigidBody* fixedBody1 = createRigidBody(0,trans,0);
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m_dynamicsWorld->addRigidBody(fixedBody1);
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btTransform frameInA, frameInB;
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frameInA = btTransform::getIdentity();
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frameInB = btTransform::getIdentity();
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frameInA.setOrigin(btVector3(0., 5., 0.));
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frameInB.setOrigin(btVector3(0., 5., 0.));
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// bool useLinearReferenceFrameA = false;//use fixed frame B for linear llimits
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bool useLinearReferenceFrameA = true;//use fixed frame A for linear llimits
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spSlider6Dof = new btGeneric6DofConstraint(*fixedBody1, *d6body0,frameInA,frameInB,useLinearReferenceFrameA);
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spSlider6Dof->setLinearLowerLimit(lowerSliderLimit);
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spSlider6Dof->setLinearUpperLimit(hiSliderLimit);
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//range should be small, otherwise singularities will 'explode' the constraint
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// spSlider6Dof->setAngularLowerLimit(btVector3(-1.5,0,0));
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// spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
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// spSlider6Dof->setAngularLowerLimit(btVector3(0,0,0));
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// spSlider6Dof->setAngularUpperLimit(btVector3(0,0,0));
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spSlider6Dof->setAngularLowerLimit(btVector3(-SIMD_PI,0,0));
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spSlider6Dof->setAngularUpperLimit(btVector3(1.5,0,0));
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spSlider6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
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spSlider6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = -5.0f;
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spSlider6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
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m_dynamicsWorld->addConstraint(spSlider6Dof);
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spSlider6Dof->setDbgDrawSize(btScalar(5.f));
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}
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#endif
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#if ENABLE_ALL_DEMOS
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{ // create a door using hinge constraint attached to the world
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btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
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m_collisionShapes.push_back(pDoorShape);
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btTransform doorTrans;
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doorTrans.setIdentity();
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doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
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btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
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pDoorBody->setActivationState(DISABLE_DEACTIVATION);
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const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
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btVector3 btAxisA( 0.0f, 1.0f, 0.0f ); // pointing upwards, aka Y-axis
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spDoorHinge = new btHingeConstraint( *pDoorBody, btPivotA, btAxisA );
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// spDoorHinge->setLimit( 0.0f, SIMD_PI_2 );
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// test problem values
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// spDoorHinge->setLimit( -SIMD_PI, SIMD_PI*0.8f);
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// spDoorHinge->setLimit( 1.f, -1.f);
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// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI);
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// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.3f, 0.0f);
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// spDoorHinge->setLimit( -SIMD_PI*0.8f, SIMD_PI, 0.9f, 0.01f, 0.0f); // "sticky limits"
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spDoorHinge->setLimit( -SIMD_PI * 0.25f, SIMD_PI * 0.25f );
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// spDoorHinge->setLimit( 0.0f, 0.0f );
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m_dynamicsWorld->addConstraint(spDoorHinge);
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spDoorHinge->setDbgDrawSize(btScalar(5.f));
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//doorTrans.setOrigin(btVector3(-5.0f, 2.0f, 0.0f));
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//btRigidBody* pDropBody = createRigidBody( 10.0, doorTrans, shape);
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}
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#endif
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#if ENABLE_ALL_DEMOS
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{ // create a generic 6DOF constraint
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btTransform tr;
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tr.setIdentity();
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tr.setOrigin(btVector3(btScalar(10.), btScalar(6.), btScalar(0.)));
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tr.getBasis().setEulerZYX(0,0,0);
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// btRigidBody* pBodyA = createRigidBody( mass, tr, shape);
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btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
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// btRigidBody* pBodyA = createRigidBody( 0.0, tr, 0);
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pBodyA->setActivationState(DISABLE_DEACTIVATION);
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tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(0.), btScalar(6.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyB = createRigidBody(mass, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(0.f, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.setOrigin(btVector3(btScalar(-5.), btScalar(0.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.setOrigin(btVector3(btScalar(5.), btScalar(0.), btScalar(0.)));
|
||||
|
||||
btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
|
||||
// btGeneric6DofConstraint* pGen6DOF = new btGeneric6DofConstraint(*pBodyA, *pBodyB, frameInA, frameInB, false);
|
||||
pGen6DOF->setLinearLowerLimit(btVector3(-10., -2., -1.));
|
||||
pGen6DOF->setLinearUpperLimit(btVector3(10., 2., 1.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(-10., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(10., 0., 0.));
|
||||
// pGen6DOF->setLinearLowerLimit(btVector3(0., 0., 0.));
|
||||
// pGen6DOF->setLinearUpperLimit(btVector3(0., 0., 0.));
|
||||
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
|
||||
// pGen6DOF->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
|
||||
|
||||
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., -SIMD_HALF_PI*0.9, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., 0., -SIMD_HALF_PI));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0., SIMD_HALF_PI));
|
||||
|
||||
pGen6DOF->setAngularLowerLimit(btVector3(-SIMD_HALF_PI * 0.5f, -0.75, -SIMD_HALF_PI * 0.8f));
|
||||
pGen6DOF->setAngularUpperLimit(btVector3(SIMD_HALF_PI * 0.5f, 0.75, SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -0.75, SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, 0.75, -SIMD_HALF_PI * 0.8f));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0.f, -SIMD_HALF_PI * 0.8f, SIMD_HALF_PI * 1.98f));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.f, SIMD_HALF_PI * 0.8f, -SIMD_HALF_PI * 1.98f));
|
||||
|
||||
|
||||
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,-0.5, -0.5));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0.5, 0.5));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-0.75,0., 0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0.75,0., 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(0., -0.7,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(0., 0.7, 0.));
|
||||
// pGen6DOF->setAngularLowerLimit(btVector3(-1., 0.,0.));
|
||||
// pGen6DOF->setAngularUpperLimit(btVector3(1., 0., 0.));
|
||||
|
||||
m_dynamicsWorld->addConstraint(pGen6DOF, true);
|
||||
pGen6DOF->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a ConeTwist constraint
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(5.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyA = createRigidBody( 1.0, tr, shape);
|
||||
// btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(-5.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyB = createRigidBody(0.0, tr, shape);
|
||||
// btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.getBasis().setEulerZYX(0, 0, SIMD_PI_2);
|
||||
frameInA.setOrigin(btVector3(btScalar(0.), btScalar(-5.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.getBasis().setEulerZYX(0,0, SIMD_PI_2);
|
||||
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(5.), btScalar(0.)));
|
||||
|
||||
m_ctc = new btConeTwistConstraint(*pBodyA, *pBodyB, frameInA, frameInB);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f);
|
||||
// m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 1.0f); // soft limit == hard limit
|
||||
m_ctc->setLimit(btScalar(SIMD_PI_4*0.6f), btScalar(SIMD_PI_4), btScalar(SIMD_PI) * 0.8f, 0.5f);
|
||||
m_dynamicsWorld->addConstraint(m_ctc, true);
|
||||
m_ctc->setDbgDrawSize(btScalar(5.f));
|
||||
// s_bTestConeTwistMotor = true; // use only with old solver for now
|
||||
s_bTestConeTwistMotor = false;
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // Hinge connected to the world, with motor (to hinge motor with new and old constraint solver)
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
|
||||
pBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
const btVector3 btPivotA( 10.0f, 0.0f, 0.0f );
|
||||
btVector3 btAxisA( 0.0f, 0.0f, 1.0f );
|
||||
|
||||
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
|
||||
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
|
||||
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
|
||||
m_dynamicsWorld->addConstraint(pHinge);
|
||||
pHinge->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a universal joint using generic 6DOF constraint
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(20.), btScalar(4.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB (child) below it :
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(20.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some (arbitrary) data to build constraint frames
|
||||
btVector3 parentAxis(1.f, 0.f, 0.f);
|
||||
btVector3 childAxis(0.f, 0.f, 1.f);
|
||||
btVector3 anchor(20.f, 2.f, 0.f);
|
||||
|
||||
btUniversalConstraint* pUniv = new btUniversalConstraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
|
||||
pUniv->setLowerLimit(-SIMD_HALF_PI * 0.5f, -SIMD_HALF_PI * 0.5f);
|
||||
pUniv->setUpperLimit(SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(pUniv, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
pUniv->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // create a generic 6DOF constraint with springs
|
||||
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(16.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-10.), btScalar(16.), btScalar(0.)));
|
||||
tr.getBasis().setEulerZYX(0,0,0);
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
|
||||
btTransform frameInA, frameInB;
|
||||
frameInA = btTransform::getIdentity();
|
||||
frameInA.setOrigin(btVector3(btScalar(10.), btScalar(0.), btScalar(0.)));
|
||||
frameInB = btTransform::getIdentity();
|
||||
frameInB.setOrigin(btVector3(btScalar(0.), btScalar(0.), btScalar(0.)));
|
||||
|
||||
btGeneric6DofSpringConstraint* pGen6DOFSpring = new btGeneric6DofSpringConstraint(*pBodyA, *pBodyB, frameInA, frameInB, true);
|
||||
pGen6DOFSpring->setLinearUpperLimit(btVector3(5., 0., 0.));
|
||||
pGen6DOFSpring->setLinearLowerLimit(btVector3(-5., 0., 0.));
|
||||
|
||||
pGen6DOFSpring->setAngularLowerLimit(btVector3(0.f, 0.f, -1.5f));
|
||||
pGen6DOFSpring->setAngularUpperLimit(btVector3(0.f, 0.f, 1.5f));
|
||||
|
||||
m_dynamicsWorld->addConstraint(pGen6DOFSpring, true);
|
||||
pGen6DOFSpring->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
pGen6DOFSpring->enableSpring(0, true);
|
||||
pGen6DOFSpring->setStiffness(0, 39.478f);
|
||||
pGen6DOFSpring->setDamping(0, 0.5f);
|
||||
pGen6DOFSpring->enableSpring(5, true);
|
||||
pGen6DOFSpring->setStiffness(5, 39.478f);
|
||||
pGen6DOFSpring->setDamping(0, 0.3f);
|
||||
pGen6DOFSpring->setEquilibriumPoint();
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a Hinge2 joint
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(4.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 0.0, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB (child) below it :
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(0.), btScalar(0.)));
|
||||
btRigidBody* pBodyB = createRigidBody(1.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some data to build constraint frames
|
||||
btVector3 parentAxis(0.f, 1.f, 0.f);
|
||||
btVector3 childAxis(1.f, 0.f, 0.f);
|
||||
btVector3 anchor(-20.f, 0.f, 0.f);
|
||||
btHinge2Constraint* pHinge2 = new btHinge2Constraint(*pBodyA, *pBodyB, anchor, parentAxis, childAxis);
|
||||
pHinge2->setLowerLimit(-SIMD_HALF_PI * 0.5f);
|
||||
pHinge2->setUpperLimit( SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(pHinge2, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
pHinge2->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{
|
||||
// create a Hinge joint between two dynamic bodies
|
||||
// create two rigid bodies
|
||||
// static bodyA (parent) on top:
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-20.), btScalar(-2.), btScalar(0.)));
|
||||
btRigidBody* pBodyA = createRigidBody( 1.0f, tr, shape);
|
||||
pBodyA->setActivationState(DISABLE_DEACTIVATION);
|
||||
// dynamic bodyB:
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(-30.), btScalar(-2.), btScalar(0.)));
|
||||
btRigidBody* pBodyB = createRigidBody(10.0, tr, shape);
|
||||
pBodyB->setActivationState(DISABLE_DEACTIVATION);
|
||||
// add some data to build constraint frames
|
||||
btVector3 axisA(0.f, 1.f, 0.f);
|
||||
btVector3 axisB(0.f, 1.f, 0.f);
|
||||
btVector3 pivotA(-5.f, 0.f, 0.f);
|
||||
btVector3 pivotB( 5.f, 0.f, 0.f);
|
||||
spHingeDynAB = new btHingeConstraint(*pBodyA, *pBodyB, pivotA, pivotB, axisA, axisB);
|
||||
spHingeDynAB->setLimit(-SIMD_HALF_PI * 0.5f, SIMD_HALF_PI * 0.5f);
|
||||
// add constraint to world
|
||||
m_dynamicsWorld->addConstraint(spHingeDynAB, true);
|
||||
// draw constraint frames and limits for debugging
|
||||
spHingeDynAB->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
#endif
|
||||
|
||||
#if ENABLE_ALL_DEMOS
|
||||
{ // 6DOF connected to the world, with motor
|
||||
btTransform tr;
|
||||
tr.setIdentity();
|
||||
tr.setOrigin(btVector3(btScalar(10.), btScalar(-15.), btScalar(0.)));
|
||||
btRigidBody* pBody = createRigidBody( 1.0, tr, shape);
|
||||
pBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
btTransform frameB;
|
||||
frameB.setIdentity();
|
||||
btGeneric6DofConstraint* pGen6Dof = new btGeneric6DofConstraint( *pBody, frameB, false );
|
||||
m_dynamicsWorld->addConstraint(pGen6Dof);
|
||||
pGen6Dof->setDbgDrawSize(btScalar(5.f));
|
||||
|
||||
pGen6Dof->setAngularLowerLimit(btVector3(0,0,0));
|
||||
pGen6Dof->setAngularUpperLimit(btVector3(0,0,0));
|
||||
pGen6Dof->setLinearLowerLimit(btVector3(-10., 0, 0));
|
||||
pGen6Dof->setLinearUpperLimit(btVector3(10., 0, 0));
|
||||
|
||||
pGen6Dof->getTranslationalLimitMotor()->m_enableMotor[0] = true;
|
||||
pGen6Dof->getTranslationalLimitMotor()->m_targetVelocity[0] = 5.0f;
|
||||
pGen6Dof->getTranslationalLimitMotor()->m_maxMotorForce[0] = 0.1f;
|
||||
}
|
||||
#endif
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
|
||||
|
||||
}
|
||||
|
||||
void AllConstraintDemo::exitPhysics()
|
||||
{
|
||||
|
||||
int i;
|
||||
|
||||
//removed/delete constraints
|
||||
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
|
||||
{
|
||||
btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i);
|
||||
m_dynamicsWorld->removeConstraint(constraint);
|
||||
delete constraint;
|
||||
}
|
||||
m_ctc = NULL;
|
||||
|
||||
//remove the rigidbodies from the dynamics world and delete them
|
||||
for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--)
|
||||
{
|
||||
btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i];
|
||||
btRigidBody* body = btRigidBody::upcast(obj);
|
||||
if (body && body->getMotionState())
|
||||
{
|
||||
delete body->getMotionState();
|
||||
}
|
||||
m_dynamicsWorld->removeCollisionObject( obj );
|
||||
delete obj;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
//delete collision shapes
|
||||
for (int j=0;j<m_collisionShapes.size();j++)
|
||||
{
|
||||
btCollisionShape* shape = m_collisionShapes[j];
|
||||
delete shape;
|
||||
}
|
||||
|
||||
m_collisionShapes.clear();
|
||||
|
||||
//delete dynamics world
|
||||
delete m_dynamicsWorld;
|
||||
m_dynamicsWorld=0;
|
||||
|
||||
//delete solver
|
||||
delete m_solver;
|
||||
m_solver=0;
|
||||
|
||||
//delete broadphase
|
||||
delete m_broadphase;
|
||||
m_broadphase=0;
|
||||
|
||||
//delete dispatcher
|
||||
delete m_dispatcher;
|
||||
|
||||
delete m_collisionConfiguration;
|
||||
|
||||
}
|
||||
|
||||
AllConstraintDemo::AllConstraintDemo(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
|
||||
AllConstraintDemo::~AllConstraintDemo()
|
||||
{
|
||||
//cleanup in the reverse order of creation/initialization
|
||||
|
||||
btAssert(m_dynamicsWorld==0);
|
||||
|
||||
}
|
||||
|
||||
#if 0
|
||||
void AllConstraintDemo::clientMoveAndDisplay()
|
||||
{
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
float dt = float(getDeltaTimeMicroseconds()) * 0.000001f;
|
||||
//printf("dt = %f: ",dt);
|
||||
|
||||
// drive cone-twist motor
|
||||
m_Time += 0.03f;
|
||||
if (s_bTestConeTwistMotor)
|
||||
{ // this works only for obsolete constraint solver for now
|
||||
// build cone target
|
||||
btScalar t = 1.25f*m_Time;
|
||||
btVector3 axis(0,sin(t),cos(t));
|
||||
axis.normalize();
|
||||
btQuaternion q1(axis, 0.75f*SIMD_PI);
|
||||
|
||||
// build twist target
|
||||
//btQuaternion q2(0,0,0);
|
||||
//btQuaternion q2(btVehictor3(1,0,0), -0.3*sin(m_Time));
|
||||
btQuaternion q2(btVector3(1,0,0), -1.49f*btSin(1.5f*m_Time));
|
||||
|
||||
// compose cone + twist and set target
|
||||
q1 = q1 * q2;
|
||||
m_ctc->enableMotor(true);
|
||||
m_ctc->setMotorTargetInConstraintSpace(q1);
|
||||
}
|
||||
|
||||
{
|
||||
static bool once = true;
|
||||
if ( m_dynamicsWorld->getDebugDrawer() && once)
|
||||
{
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
|
||||
once=false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
{
|
||||
//during idle mode, just run 1 simulation step maximum
|
||||
int maxSimSubSteps = m_idle ? 1 : 1;
|
||||
if (m_idle)
|
||||
dt = 1.0f/420.f;
|
||||
|
||||
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
|
||||
|
||||
//optional but useful: debug drawing
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
bool verbose = false;
|
||||
if (verbose)
|
||||
{
|
||||
if (!numSimSteps)
|
||||
printf("Interpolated transforms\n");
|
||||
else
|
||||
{
|
||||
if (numSimSteps > maxSimSubSteps)
|
||||
{
|
||||
//detect dropping frames
|
||||
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
|
||||
} else
|
||||
{
|
||||
printf("Simulated (%i) steps\n",numSimSteps);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
renderme();
|
||||
|
||||
// drawLimit();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void AllConstraintDemo::displayCallback(void) {
|
||||
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
|
||||
if (m_dynamicsWorld)
|
||||
m_dynamicsWorld->debugDrawWorld();
|
||||
|
||||
// drawLimit();
|
||||
|
||||
renderme();
|
||||
|
||||
glFlush();
|
||||
swapBuffers();
|
||||
}
|
||||
#endif
|
||||
|
||||
void AllConstraintDemo::keyboardCallback(unsigned char key, int x, int y)
|
||||
{
|
||||
(void)x;
|
||||
(void)y;
|
||||
switch (key)
|
||||
{
|
||||
case 'O' :
|
||||
{
|
||||
bool offectOnOff;
|
||||
if(spDoorHinge)
|
||||
{
|
||||
offectOnOff = spDoorHinge->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spDoorHinge->setUseFrameOffset(offectOnOff);
|
||||
printf("DoorHinge %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if(spHingeDynAB)
|
||||
{
|
||||
offectOnOff = spHingeDynAB->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spHingeDynAB->setUseFrameOffset(offectOnOff);
|
||||
printf("HingeDynAB %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
if(spSlider6Dof)
|
||||
{
|
||||
offectOnOff = spSlider6Dof->getUseFrameOffset();
|
||||
offectOnOff = !offectOnOff;
|
||||
spSlider6Dof->setUseFrameOffset(offectOnOff);
|
||||
printf("Slider6Dof %s frame offset\n", offectOnOff ? "uses" : "does not use");
|
||||
}
|
||||
}
|
||||
break;
|
||||
default :
|
||||
{
|
||||
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options)
|
||||
{
|
||||
return new AllConstraintDemo(options.m_guiHelper);
|
||||
}
|
||||
22
Engine/lib/bullet/examples/Constraints/ConstraintDemo.h
Normal file
22
Engine/lib/bullet/examples/Constraints/ConstraintDemo.h
Normal file
|
|
@ -0,0 +1,22 @@
|
|||
/*
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
*/
|
||||
#ifndef ALL_CONSTRAINT_DEMO_H
|
||||
#define ALL_CONSTRAINT_DEMO_H
|
||||
|
||||
class CommonExampleInterface* AllConstraintCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
|
||||
#endif //ALL_CONSTRAINT_DEMO_H
|
||||
|
||||
|
|
@ -0,0 +1,161 @@
|
|||
#include "ConstraintPhysicsSetup.h"
|
||||
|
||||
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
|
||||
|
||||
|
||||
struct ConstraintPhysicsSetup : public CommonRigidBodyBase
|
||||
{
|
||||
ConstraintPhysicsSetup(struct GUIHelperInterface* helper);
|
||||
virtual ~ConstraintPhysicsSetup();
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 7;
|
||||
float pitch = 721;
|
||||
float yaw = 44;
|
||||
float targetPos[3]={8,1,-11};
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
ConstraintPhysicsSetup::ConstraintPhysicsSetup(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper)
|
||||
{
|
||||
}
|
||||
ConstraintPhysicsSetup::~ConstraintPhysicsSetup()
|
||||
{
|
||||
}
|
||||
|
||||
static btScalar val;
|
||||
static btScalar targetVel=0;
|
||||
static btScalar maxImpulse=10000;
|
||||
static btHingeAccumulatedAngleConstraint* spDoorHinge=0;
|
||||
static btScalar actualHingeVelocity=0.f;
|
||||
|
||||
static btVector3 btAxisA(0,1,0);
|
||||
|
||||
void ConstraintPhysicsSetup::stepSimulation(float deltaTime)
|
||||
{
|
||||
val=spDoorHinge->getAccumulatedHingeAngle()*SIMD_DEGS_PER_RAD;
|
||||
if (m_dynamicsWorld)
|
||||
{
|
||||
spDoorHinge->enableAngularMotor(true,targetVel,maxImpulse);
|
||||
|
||||
m_dynamicsWorld->stepSimulation(deltaTime,10,1./240.);
|
||||
|
||||
|
||||
btHingeConstraint* hinge = spDoorHinge;
|
||||
|
||||
if (hinge)
|
||||
{
|
||||
|
||||
const btRigidBody& bodyA = hinge->getRigidBodyA();
|
||||
const btRigidBody& bodyB = hinge->getRigidBodyB();
|
||||
|
||||
|
||||
btTransform trA = bodyA.getWorldTransform();
|
||||
btVector3 angVelA = bodyA.getAngularVelocity();
|
||||
btVector3 angVelB = bodyB.getAngularVelocity();
|
||||
|
||||
{
|
||||
btVector3 ax1 = trA.getBasis()*hinge->getFrameOffsetA().getBasis().getColumn(2);
|
||||
btScalar vel = angVelA.dot(ax1);
|
||||
vel -= angVelB.dot(ax1);
|
||||
printf("hinge velocity (q) = %f\n", vel);
|
||||
actualHingeVelocity=vel;
|
||||
}
|
||||
btVector3 ortho0,ortho1;
|
||||
btPlaneSpace1(btAxisA,ortho0,ortho1);
|
||||
{
|
||||
|
||||
btScalar vel2 = angVelA.dot(ortho0);
|
||||
vel2 -= angVelB.dot(ortho0);
|
||||
printf("hinge orthogonal1 velocity (q) = %f\n", vel2);
|
||||
}
|
||||
{
|
||||
|
||||
btScalar vel0 = angVelA.dot(ortho1);
|
||||
vel0 -= angVelB.dot(ortho1);
|
||||
printf("hinge orthogonal0 velocity (q) = %f\n", vel0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void ConstraintPhysicsSetup::initPhysics()
|
||||
{
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
createEmptyDynamicsWorld();
|
||||
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
int mode = btIDebugDraw::DBG_DrawWireframe
|
||||
+btIDebugDraw::DBG_DrawConstraints
|
||||
+btIDebugDraw::DBG_DrawConstraintLimits;
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
|
||||
|
||||
|
||||
{
|
||||
SliderParams slider("target vel",&targetVel);
|
||||
slider.m_minVal=-4;
|
||||
slider.m_maxVal=4;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
{
|
||||
SliderParams slider("max impulse",&maxImpulse);
|
||||
slider.m_minVal=0;
|
||||
slider.m_maxVal=1000;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
{
|
||||
SliderParams slider("actual vel",&actualHingeVelocity);
|
||||
slider.m_minVal=-4;
|
||||
slider.m_maxVal=4;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
val=1.f;
|
||||
{
|
||||
SliderParams slider("angle",&val);
|
||||
slider.m_minVal=-720;
|
||||
slider.m_maxVal=720;
|
||||
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
|
||||
}
|
||||
|
||||
{ // create a door using hinge constraint attached to the world
|
||||
btCollisionShape* pDoorShape = new btBoxShape(btVector3(2.0f, 5.0f, 0.2f));
|
||||
m_collisionShapes.push_back(pDoorShape);
|
||||
btTransform doorTrans;
|
||||
doorTrans.setIdentity();
|
||||
doorTrans.setOrigin(btVector3(-5.0f, -2.0f, 0.0f));
|
||||
btRigidBody* pDoorBody = createRigidBody( 1.0, doorTrans, pDoorShape);
|
||||
pDoorBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
const btVector3 btPivotA(10.f + 2.1f, -2.0f, 0.0f ); // right next to the door slightly outside
|
||||
|
||||
spDoorHinge = new btHingeAccumulatedAngleConstraint( *pDoorBody, btPivotA, btAxisA );
|
||||
|
||||
m_dynamicsWorld->addConstraint(spDoorHinge);
|
||||
|
||||
spDoorHinge->setDbgDrawSize(btScalar(5.f));
|
||||
}
|
||||
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
class CommonExampleInterface* ConstraintCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new ConstraintPhysicsSetup(options.m_guiHelper);
|
||||
}
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#ifndef CONSTAINT_PHYSICS_SETUP_H
|
||||
#define CONSTAINT_PHYSICS_SETUP_H
|
||||
|
||||
class CommonExampleInterface* ConstraintCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //CONSTAINT_PHYSICS_SETUP_H
|
||||
503
Engine/lib/bullet/examples/Constraints/Dof6Spring2Setup.cpp
Normal file
503
Engine/lib/bullet/examples/Constraints/Dof6Spring2Setup.cpp
Normal file
|
|
@ -0,0 +1,503 @@
|
|||
#include "Dof6Spring2Setup.h"
|
||||
|
||||
#include "btBulletDynamicsCommon.h"
|
||||
#include "BulletDynamics/ConstraintSolver/btNNCGConstraintSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h"
|
||||
#include "BulletDynamics/MLCPSolvers/btDantzigSolver.h"
|
||||
|
||||
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
|
||||
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI 3.14159265358979323846
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_2
|
||||
#define M_PI_2 1.57079632679489661923
|
||||
#endif
|
||||
|
||||
#ifndef M_PI_4
|
||||
#define M_PI_4 0.785398163397448309616
|
||||
#endif
|
||||
|
||||
|
||||
extern float g_additionalBodyMass;
|
||||
|
||||
//comment this out to compare with original spring constraint
|
||||
#define USE_6DOF2
|
||||
#ifdef USE_6DOF2
|
||||
#define CONSTRAINT_TYPE btGeneric6DofSpring2Constraint
|
||||
#define EXTRAPARAMS
|
||||
#else
|
||||
#define CONSTRAINT_TYPE btGeneric6DofSpringConstraint
|
||||
#define EXTRAPARAMS ,true
|
||||
#endif
|
||||
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
|
||||
|
||||
|
||||
|
||||
struct Dof6Spring2Setup : public CommonRigidBodyBase
|
||||
{
|
||||
struct Dof6Spring2SetupInternalData* m_data;
|
||||
|
||||
Dof6Spring2Setup(struct GUIHelperInterface* helper);
|
||||
virtual ~Dof6Spring2Setup();
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
void animate();
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
float dist = 5;
|
||||
float pitch = 722;
|
||||
float yaw = 35;
|
||||
float targetPos[3]={4,2,-11};
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
struct Dof6Spring2SetupInternalData
|
||||
{
|
||||
btRigidBody* m_TranslateSpringBody;
|
||||
btRigidBody* m_TranslateSpringBody2;
|
||||
btRigidBody* m_RotateSpringBody;
|
||||
btRigidBody* m_RotateSpringBody2;
|
||||
btRigidBody* m_BouncingTranslateBody;
|
||||
btRigidBody* m_MotorBody;
|
||||
btRigidBody* m_ServoMotorBody;
|
||||
btRigidBody* m_ChainLeftBody;
|
||||
btRigidBody* m_ChainRightBody;
|
||||
CONSTRAINT_TYPE* m_ServoMotorConstraint;
|
||||
CONSTRAINT_TYPE* m_ChainLeftConstraint;
|
||||
CONSTRAINT_TYPE* m_ChainRightConstraint;
|
||||
|
||||
|
||||
float mDt;
|
||||
|
||||
unsigned int frameID;
|
||||
Dof6Spring2SetupInternalData()
|
||||
: mDt(1./60.),frameID(0)
|
||||
{
|
||||
}
|
||||
};
|
||||
|
||||
Dof6Spring2Setup::Dof6Spring2Setup(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper)
|
||||
{
|
||||
m_data = new Dof6Spring2SetupInternalData;
|
||||
}
|
||||
Dof6Spring2Setup::~Dof6Spring2Setup()
|
||||
{
|
||||
exitPhysics();
|
||||
delete m_data;
|
||||
}
|
||||
void Dof6Spring2Setup::initPhysics()
|
||||
{
|
||||
// Setup the basic world
|
||||
|
||||
m_guiHelper->setUpAxis(1);
|
||||
|
||||
m_collisionConfiguration = new btDefaultCollisionConfiguration();
|
||||
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
|
||||
btVector3 worldAabbMin(-10000,-10000,-10000);
|
||||
btVector3 worldAabbMax(10000,10000,10000);
|
||||
m_broadphase = new btAxisSweep3 (worldAabbMin, worldAabbMax);
|
||||
|
||||
/////// uncomment the corresponding line to test a solver.
|
||||
//m_solver = new btSequentialImpulseConstraintSolver;
|
||||
m_solver = new btNNCGConstraintSolver;
|
||||
//m_solver = new btMLCPSolver(new btSolveProjectedGaussSeidel());
|
||||
//m_solver = new btMLCPSolver(new btDantzigSolver());
|
||||
//m_solver = new btMLCPSolver(new btLemkeSolver());
|
||||
|
||||
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_broadphase,m_solver,m_collisionConfiguration);
|
||||
m_dynamicsWorld->getDispatchInfo().m_useContinuous = true;
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,0,0));
|
||||
|
||||
// Setup a big ground box
|
||||
{
|
||||
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(200.),btScalar(5.),btScalar(200.)));
|
||||
btTransform groundTransform;
|
||||
groundTransform.setIdentity();
|
||||
groundTransform.setOrigin(btVector3(0,-10,0));
|
||||
#define CREATE_GROUND_COLLISION_OBJECT 1
|
||||
#ifdef CREATE_GROUND_COLLISION_OBJECT
|
||||
btCollisionObject* fixedGround = new btCollisionObject();
|
||||
fixedGround->setCollisionShape(groundShape);
|
||||
fixedGround->setWorldTransform(groundTransform);
|
||||
m_dynamicsWorld->addCollisionObject(fixedGround);
|
||||
#else
|
||||
localCreateRigidBody(btScalar(0.),groundTransform,groundShape);
|
||||
#endif //CREATE_GROUND_COLLISION_OBJECT
|
||||
}
|
||||
|
||||
m_dynamicsWorld->getSolverInfo().m_numIterations = 100;
|
||||
|
||||
btCollisionShape* shape;
|
||||
btVector3 localInertia(0,0,0);
|
||||
btDefaultMotionState* motionState;
|
||||
btTransform bodyTransform;
|
||||
btScalar mass;
|
||||
btTransform localA;
|
||||
btTransform localB;
|
||||
CONSTRAINT_TYPE* constraint;
|
||||
|
||||
//static body centered in the origo
|
||||
mass = 0.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
localInertia = btVector3(0,0,0);
|
||||
bodyTransform.setIdentity();
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
btRigidBody* staticBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
|
||||
/////////// box with undamped translate spring attached to static body
|
||||
/////////// the box should oscillate left-to-right forever
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(-2,0,-5));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_TranslateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_TranslateSpringBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_TranslateSpringBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(0,0,-5);
|
||||
localB.setIdentity();
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_TranslateSpringBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, 1,-1);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 0, 0);
|
||||
constraint->enableSpring(0, true);
|
||||
constraint->setStiffness(0, 100);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->setDamping(0, 0);
|
||||
#else
|
||||
constraint->setDamping(0, 1);
|
||||
#endif
|
||||
constraint->setEquilibriumPoint(0, 0);
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
}
|
||||
|
||||
/////////// box with rotate spring, attached to static body
|
||||
/////////// box should swing (rotate) left-to-right forever
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.getBasis().setEulerZYX(0,0,M_PI_2);
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_RotateSpringBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_RotateSpringBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_RotateSpringBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
|
||||
localB.setIdentity();localB.setOrigin(btVector3(0,0.5,0));
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_RotateSpringBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, 0, 0);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 1, -1);
|
||||
constraint->enableSpring(5, true);
|
||||
constraint->setStiffness(5, 100);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->setDamping(5, 0);
|
||||
#else
|
||||
constraint->setDamping(5, 1);
|
||||
#endif
|
||||
constraint->setEquilibriumPoint(0, 0);
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
}
|
||||
|
||||
/////////// box with bouncing constraint, translation is bounced at the positive x limit, but not at the negative limit
|
||||
/////////// bouncing can not be set independently at low and high limits, so two constraints will be created: one that defines the low (non bouncing) limit, and one that defines the high (bouncing) limit
|
||||
/////////// the box should move to the left (as an impulse will be applied to it periodically) until it reaches its limit, then bounce back
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(0,0,-3));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_BouncingTranslateBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_BouncingTranslateBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_data->m_BouncingTranslateBody->setDeactivationTime(btScalar(20000000));
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_BouncingTranslateBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(0,0,0);
|
||||
localB.setIdentity();
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, -2, SIMD_INFINITY);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, -3, -3);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 0, 0);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->setBounce(0,0);
|
||||
#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
|
||||
constraint->getTranslationalLimitMotor()->m_restitution = 0.0;
|
||||
#endif
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_BouncingTranslateBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, -SIMD_INFINITY, 2);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, -3, -3);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 0, 0);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->setBounce(0,1);
|
||||
#else //bounce is named restitution in 6dofspring, but not implemented for translational limit motor, so the following line has no effect
|
||||
constraint->getTranslationalLimitMotor()->m_restitution = 1.0;
|
||||
#endif
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.995,0);
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,0);
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
}
|
||||
|
||||
/////////// box with rotational motor, attached to static body
|
||||
/////////// the box should rotate around the y axis
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(4,0,0));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_MotorBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_MotorBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_MotorBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(4,0,0);
|
||||
localB.setIdentity();
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_MotorBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, 0, 0);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 1,-1);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->enableMotor(5,true);
|
||||
constraint->setTargetVelocity(5,3.f);
|
||||
constraint->setMaxMotorForce(5,10.f);
|
||||
#else
|
||||
constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
|
||||
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
|
||||
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
|
||||
#endif
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
}
|
||||
|
||||
/////////// box with rotational servo motor, attached to static body
|
||||
/////////// the box should rotate around the y axis until it reaches its target
|
||||
/////////// the target will be negated periodically
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(7,0,0));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
m_data->m_ServoMotorBody = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
m_data->m_ServoMotorBody->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(m_data->m_ServoMotorBody);
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(7,0,0);
|
||||
localB.setIdentity();
|
||||
constraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ServoMotorBody, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, 0, 0);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 1,-1);
|
||||
#ifdef USE_6DOF2
|
||||
constraint->enableMotor(5,true);
|
||||
constraint->setTargetVelocity(5,3.f);
|
||||
constraint->setMaxMotorForce(5,10.f);
|
||||
constraint->setServo(5,true);
|
||||
constraint->setServoTarget(5, M_PI_2);
|
||||
#else
|
||||
constraint->getRotationalLimitMotor(2)->m_enableMotor = true;
|
||||
constraint->getRotationalLimitMotor(2)->m_targetVelocity = 3.f;
|
||||
constraint->getRotationalLimitMotor(2)->m_maxMotorForce = 10;
|
||||
//servo motor is not implemented in 6dofspring constraint
|
||||
#endif
|
||||
constraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
m_data->m_ServoMotorConstraint = constraint;
|
||||
}
|
||||
|
||||
////////// chain of boxes linked together with fully limited rotational and translational constraints
|
||||
////////// the chain will be pulled to the left and to the right periodically. They should strictly stick together.
|
||||
{
|
||||
btScalar limitConstraintStrength = 0.6;
|
||||
int bodycount = 10;
|
||||
btRigidBody* prevBody = 0;
|
||||
for(int i = 0; i < bodycount; ++i)
|
||||
{
|
||||
mass = 1.0;
|
||||
shape= new btBoxShape(btVector3(0.5,0.5,0.5));
|
||||
shape->calculateLocalInertia(mass,localInertia);
|
||||
bodyTransform.setIdentity();
|
||||
bodyTransform.setOrigin(btVector3(- i,0,3));
|
||||
motionState = new btDefaultMotionState(bodyTransform);
|
||||
btRigidBody* body = new btRigidBody(mass,motionState,shape,localInertia);
|
||||
body->setActivationState(DISABLE_DEACTIVATION);
|
||||
m_dynamicsWorld->addRigidBody(body);
|
||||
if(prevBody != 0)
|
||||
{
|
||||
localB.setIdentity();
|
||||
localB.setOrigin(btVector3(0.5,0,0));
|
||||
btTransform localA;
|
||||
localA.setIdentity();
|
||||
localA.setOrigin(btVector3(-0.5,0,0));
|
||||
CONSTRAINT_TYPE* constraint = new CONSTRAINT_TYPE(*prevBody, *body, localA, localB EXTRAPARAMS);
|
||||
constraint->setLimit(0, -0.01, 0.01);
|
||||
constraint->setLimit(1, 0, 0);
|
||||
constraint->setLimit(2, 0, 0);
|
||||
constraint->setLimit(3, 0, 0);
|
||||
constraint->setLimit(4, 0, 0);
|
||||
constraint->setLimit(5, 0, 0);
|
||||
for(int a = 0; a < 6; ++a)
|
||||
{
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_ERP,0.9,a);
|
||||
constraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
|
||||
}
|
||||
constraint->setDbgDrawSize(btScalar(1.f));
|
||||
m_dynamicsWorld->addConstraint(constraint, true);
|
||||
|
||||
if(i < bodycount - 1)
|
||||
{
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(0,0,3);
|
||||
localB.setIdentity();
|
||||
CONSTRAINT_TYPE* constraintZY = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
|
||||
constraintZY->setLimit(0, 1, -1);
|
||||
constraintZY->setDbgDrawSize(btScalar(1.f));
|
||||
m_dynamicsWorld->addConstraint(constraintZY, true);
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(bodycount,0,3);
|
||||
localB.setIdentity();
|
||||
localB.setOrigin(btVector3(0,0,0));
|
||||
m_data->m_ChainLeftBody = body;
|
||||
m_data->m_ChainLeftConstraint = new CONSTRAINT_TYPE(*staticBody, *body, localA, localB EXTRAPARAMS);
|
||||
m_data->m_ChainLeftConstraint->setLimit(3,0,0);
|
||||
m_data->m_ChainLeftConstraint->setLimit(4,0,0);
|
||||
m_data->m_ChainLeftConstraint->setLimit(5,0,0);
|
||||
for(int a = 0; a < 6; ++a)
|
||||
{
|
||||
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
|
||||
m_data->m_ChainLeftConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
|
||||
}
|
||||
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(1.f));
|
||||
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
|
||||
}
|
||||
prevBody = body;
|
||||
}
|
||||
m_data->m_ChainRightBody = prevBody;
|
||||
localA.setIdentity();localA.getOrigin() = btVector3(-bodycount,0,3);
|
||||
localB.setIdentity();
|
||||
localB.setOrigin(btVector3(0,0,0));
|
||||
m_data->m_ChainRightConstraint = new CONSTRAINT_TYPE(*staticBody, *m_data->m_ChainRightBody, localA, localB EXTRAPARAMS);
|
||||
m_data->m_ChainRightConstraint->setLimit(3,0,0);
|
||||
m_data->m_ChainRightConstraint->setLimit(4,0,0);
|
||||
m_data->m_ChainRightConstraint->setLimit(5,0,0);
|
||||
for(int a = 0; a < 6; ++a)
|
||||
{
|
||||
m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_ERP,limitConstraintStrength,a);
|
||||
m_data->m_ChainRightConstraint->setParam(BT_CONSTRAINT_STOP_CFM,0.0,a);
|
||||
}
|
||||
}
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
|
||||
void Dof6Spring2Setup::animate()
|
||||
{
|
||||
|
||||
/////// servo motor: flip its target periodically
|
||||
#ifdef USE_6DOF2
|
||||
static float servoNextFrame = -1;
|
||||
btScalar pos = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_currentPosition;
|
||||
btScalar target = m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget;
|
||||
if(servoNextFrame < 0)
|
||||
{
|
||||
m_data->m_ServoMotorConstraint->getRotationalLimitMotor(2)->m_servoTarget *= -1;
|
||||
servoNextFrame = 3.0;
|
||||
}
|
||||
servoNextFrame -= m_data->mDt;
|
||||
#endif
|
||||
|
||||
/////// constraint chain: pull the chain left and right periodically
|
||||
static float chainNextFrame = -1;
|
||||
static bool left = true;
|
||||
if(chainNextFrame < 0)
|
||||
{
|
||||
if(!left)
|
||||
{
|
||||
m_data->m_ChainRightBody->setActivationState(ACTIVE_TAG);
|
||||
m_dynamicsWorld->removeConstraint(m_data->m_ChainRightConstraint);
|
||||
m_data->m_ChainLeftConstraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(m_data->m_ChainLeftConstraint, true);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_data->m_ChainLeftBody->setActivationState(ACTIVE_TAG);
|
||||
m_dynamicsWorld->removeConstraint(m_data->m_ChainLeftConstraint);
|
||||
m_data->m_ChainRightConstraint->setDbgDrawSize(btScalar(2.f));
|
||||
m_dynamicsWorld->addConstraint(m_data->m_ChainRightConstraint, true);
|
||||
}
|
||||
chainNextFrame = 3.0;
|
||||
left = !left;
|
||||
}
|
||||
chainNextFrame -= m_data->mDt;
|
||||
|
||||
/////// bouncing constraint: push the box periodically
|
||||
m_data->m_BouncingTranslateBody->setActivationState(ACTIVE_TAG);
|
||||
static float bounceNextFrame = -1;
|
||||
if(bounceNextFrame < 0)
|
||||
{
|
||||
m_data->m_BouncingTranslateBody->applyCentralImpulse(btVector3(10,0,0));
|
||||
bounceNextFrame = 3.0;
|
||||
}
|
||||
bounceNextFrame -= m_data->mDt;
|
||||
|
||||
m_data->frameID++;
|
||||
}
|
||||
|
||||
|
||||
void Dof6Spring2Setup::stepSimulation(float deltaTime)
|
||||
{
|
||||
animate();
|
||||
m_dynamicsWorld->stepSimulation(deltaTime);
|
||||
}
|
||||
|
||||
class CommonExampleInterface* Dof6Spring2CreateFunc( CommonExampleOptions& options)
|
||||
{
|
||||
return new Dof6Spring2Setup(options.m_guiHelper);
|
||||
}
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
#ifndef GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H
|
||||
#define GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H
|
||||
|
||||
class CommonExampleInterface* Dof6Spring2CreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //GENERIC_6DOF_SPRING2_CONSTRAINT_DEMO_H
|
||||
243
Engine/lib/bullet/examples/Constraints/TestHingeTorque.cpp
Normal file
243
Engine/lib/bullet/examples/Constraints/TestHingeTorque.cpp
Normal file
|
|
@ -0,0 +1,243 @@
|
|||
#include "TestHingeTorque.h"
|
||||
|
||||
|
||||
#include "../CommonInterfaces/CommonRigidBodyBase.h"
|
||||
#include "../CommonInterfaces/CommonParameterInterface.h"
|
||||
|
||||
short collisionFilterGroup = short(btBroadphaseProxy::CharacterFilter);
|
||||
short collisionFilterMask = short(btBroadphaseProxy::AllFilter ^ (btBroadphaseProxy::CharacterFilter));
|
||||
static btScalar radius(0.2);
|
||||
|
||||
struct TestHingeTorque : public CommonRigidBodyBase
|
||||
{
|
||||
bool m_once;
|
||||
btAlignedObjectArray<btJointFeedback*> m_jointFeedback;
|
||||
|
||||
TestHingeTorque(struct GUIHelperInterface* helper);
|
||||
virtual ~ TestHingeTorque();
|
||||
virtual void initPhysics();
|
||||
|
||||
virtual void stepSimulation(float deltaTime);
|
||||
|
||||
|
||||
virtual void resetCamera()
|
||||
{
|
||||
|
||||
float dist = 5;
|
||||
float pitch = 270;
|
||||
float yaw = 21;
|
||||
float targetPos[3]={-1.34,3.4,-0.44};
|
||||
m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
|
||||
}
|
||||
|
||||
|
||||
};
|
||||
|
||||
TestHingeTorque::TestHingeTorque(struct GUIHelperInterface* helper)
|
||||
:CommonRigidBodyBase(helper),
|
||||
m_once(true)
|
||||
{
|
||||
}
|
||||
TestHingeTorque::~ TestHingeTorque()
|
||||
{
|
||||
for (int i=0;i<m_jointFeedback.size();i++)
|
||||
{
|
||||
delete m_jointFeedback[i];
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void TestHingeTorque::stepSimulation(float deltaTime)
|
||||
{
|
||||
if (0)//m_once)
|
||||
{
|
||||
m_once=false;
|
||||
btHingeConstraint* hinge = (btHingeConstraint*)m_dynamicsWorld->getConstraint(0);
|
||||
|
||||
btRigidBody& bodyA = hinge->getRigidBodyA();
|
||||
btTransform trA = bodyA.getWorldTransform();
|
||||
btVector3 hingeAxisInWorld = trA.getBasis()*hinge->getFrameOffsetA().getBasis().getColumn(2);
|
||||
hinge->getRigidBodyA().applyTorque(-hingeAxisInWorld*10);
|
||||
hinge->getRigidBodyB().applyTorque(hingeAxisInWorld*10);
|
||||
|
||||
}
|
||||
|
||||
m_dynamicsWorld->stepSimulation(1./240,0);
|
||||
|
||||
static int count = 0;
|
||||
if ((count& 0x0f)==0)
|
||||
{
|
||||
btRigidBody* base = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[0]);
|
||||
|
||||
b3Printf("base angvel = %f,%f,%f",base->getAngularVelocity()[0],
|
||||
base->getAngularVelocity()[1],
|
||||
|
||||
base->getAngularVelocity()[2]);
|
||||
|
||||
btRigidBody* child = btRigidBody::upcast(m_dynamicsWorld->getCollisionObjectArray()[1]);
|
||||
|
||||
|
||||
b3Printf("child angvel = %f,%f,%f",child->getAngularVelocity()[0],
|
||||
child->getAngularVelocity()[1],
|
||||
|
||||
child->getAngularVelocity()[2]);
|
||||
|
||||
for (int i=0;i<m_jointFeedback.size();i++)
|
||||
{
|
||||
b3Printf("Applied force at the COM/Inertial frame B[%d]:(%f,%f,%f), torque B:(%f,%f,%f)\n", i,
|
||||
|
||||
|
||||
m_jointFeedback[i]->m_appliedForceBodyB.x(),
|
||||
m_jointFeedback[i]->m_appliedForceBodyB.y(),
|
||||
m_jointFeedback[i]->m_appliedForceBodyB.z(),
|
||||
m_jointFeedback[i]->m_appliedTorqueBodyB.x(),
|
||||
m_jointFeedback[i]->m_appliedTorqueBodyB.y(),
|
||||
m_jointFeedback[i]->m_appliedTorqueBodyB.z());
|
||||
}
|
||||
}
|
||||
count++;
|
||||
|
||||
//CommonRigidBodyBase::stepSimulation(deltaTime);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void TestHingeTorque::initPhysics()
|
||||
{
|
||||
int upAxis = 1;
|
||||
m_guiHelper->setUpAxis(upAxis);
|
||||
|
||||
createEmptyDynamicsWorld();
|
||||
m_dynamicsWorld->getSolverInfo().m_splitImpulse = false;
|
||||
|
||||
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
|
||||
|
||||
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
|
||||
int mode = btIDebugDraw::DBG_DrawWireframe
|
||||
+btIDebugDraw::DBG_DrawConstraints
|
||||
+btIDebugDraw::DBG_DrawConstraintLimits;
|
||||
m_dynamicsWorld->getDebugDrawer()->setDebugMode(mode);
|
||||
|
||||
|
||||
{ // create a door using hinge constraint attached to the world
|
||||
|
||||
int numLinks = 2;
|
||||
bool spherical = false; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
|
||||
bool canSleep = false;
|
||||
bool selfCollide = false;
|
||||
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
|
||||
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
|
||||
|
||||
btBoxShape* baseBox = new btBoxShape(baseHalfExtents);
|
||||
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
|
||||
btTransform baseWorldTrans;
|
||||
baseWorldTrans.setIdentity();
|
||||
baseWorldTrans.setOrigin(basePosition);
|
||||
|
||||
//mbC->forceMultiDof(); //if !spherical, you can comment this line to check the 1DoF algorithm
|
||||
//init the base
|
||||
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
|
||||
float baseMass = 0.f;
|
||||
float linkMass = 1.f;
|
||||
|
||||
btRigidBody* base = createRigidBody(baseMass,baseWorldTrans,baseBox);
|
||||
m_dynamicsWorld->removeRigidBody(base);
|
||||
base->setDamping(0,0);
|
||||
m_dynamicsWorld->addRigidBody(base,collisionFilterGroup,collisionFilterMask);
|
||||
btBoxShape* linkBox1 = new btBoxShape(linkHalfExtents);
|
||||
btSphereShape* linkSphere = new btSphereShape(radius);
|
||||
|
||||
btRigidBody* prevBody = base;
|
||||
|
||||
for (int i=0;i<numLinks;i++)
|
||||
{
|
||||
btTransform linkTrans;
|
||||
linkTrans = baseWorldTrans;
|
||||
|
||||
linkTrans.setOrigin(basePosition-btVector3(0,linkHalfExtents[1]*2.f*(i+1),0));
|
||||
|
||||
btCollisionShape* colOb = 0;
|
||||
|
||||
if (i==0)
|
||||
{
|
||||
colOb = linkBox1;
|
||||
} else
|
||||
{
|
||||
colOb = linkSphere;
|
||||
}
|
||||
btRigidBody* linkBody = createRigidBody(linkMass,linkTrans,colOb);
|
||||
m_dynamicsWorld->removeRigidBody(linkBody);
|
||||
m_dynamicsWorld->addRigidBody(linkBody,collisionFilterGroup,collisionFilterMask);
|
||||
linkBody->setDamping(0,0);
|
||||
btTypedConstraint* con = 0;
|
||||
|
||||
if (i==0)
|
||||
{
|
||||
//create a hinge constraint
|
||||
btVector3 pivotInA(0,-linkHalfExtents[1],0);
|
||||
btVector3 pivotInB(0,linkHalfExtents[1],0);
|
||||
btVector3 axisInA(1,0,0);
|
||||
btVector3 axisInB(1,0,0);
|
||||
bool useReferenceA = true;
|
||||
btHingeConstraint* hinge = new btHingeConstraint(*prevBody,*linkBody,
|
||||
pivotInA,pivotInB,
|
||||
axisInA,axisInB,useReferenceA);
|
||||
con = hinge;
|
||||
} else
|
||||
{
|
||||
|
||||
btTransform pivotInA(btQuaternion::getIdentity(),btVector3(0, -radius, 0)); //par body's COM to cur body's COM offset
|
||||
btTransform pivotInB(btQuaternion::getIdentity(),btVector3(0, radius, 0)); //cur body's COM to cur body's PIV offset
|
||||
btGeneric6DofSpring2Constraint* fixed = new btGeneric6DofSpring2Constraint(*prevBody, *linkBody,
|
||||
pivotInA,pivotInB);
|
||||
fixed->setLinearLowerLimit(btVector3(0,0,0));
|
||||
fixed->setLinearUpperLimit(btVector3(0,0,0));
|
||||
fixed->setAngularLowerLimit(btVector3(0,0,0));
|
||||
fixed->setAngularUpperLimit(btVector3(0,0,0));
|
||||
|
||||
con = fixed;
|
||||
|
||||
}
|
||||
btAssert(con);
|
||||
if (con)
|
||||
{
|
||||
btJointFeedback* fb = new btJointFeedback();
|
||||
m_jointFeedback.push_back(fb);
|
||||
con->setJointFeedback(fb);
|
||||
|
||||
m_dynamicsWorld->addConstraint(con,true);
|
||||
}
|
||||
prevBody = linkBody;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
if (1)
|
||||
{
|
||||
btVector3 groundHalfExtents(1,1,0.2);
|
||||
groundHalfExtents[upAxis]=1.f;
|
||||
btBoxShape* box = new btBoxShape(groundHalfExtents);
|
||||
box->initializePolyhedralFeatures();
|
||||
|
||||
btTransform start; start.setIdentity();
|
||||
btVector3 groundOrigin(-0.4f, 3.f, 0.f);
|
||||
btVector3 basePosition = btVector3(-0.4f, 3.f, 0.f);
|
||||
btQuaternion groundOrn(btVector3(0,1,0),0.25*SIMD_PI);
|
||||
|
||||
groundOrigin[upAxis] -=.5;
|
||||
groundOrigin[2]-=0.6;
|
||||
start.setOrigin(groundOrigin);
|
||||
// start.setRotation(groundOrn);
|
||||
btRigidBody* body = createRigidBody(0,start,box);
|
||||
body->setFriction(0);
|
||||
|
||||
}
|
||||
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
|
||||
}
|
||||
|
||||
class CommonExampleInterface* TestHingeTorqueCreateFunc(CommonExampleOptions& options)
|
||||
{
|
||||
return new TestHingeTorque(options.m_guiHelper);
|
||||
}
|
||||
7
Engine/lib/bullet/examples/Constraints/TestHingeTorque.h
Normal file
7
Engine/lib/bullet/examples/Constraints/TestHingeTorque.h
Normal file
|
|
@ -0,0 +1,7 @@
|
|||
#ifndef TEST_HINGE_TORQUE_H
|
||||
#define TEST_HINGE_TORQUE_H
|
||||
|
||||
class CommonExampleInterface* TestHingeTorqueCreateFunc(struct CommonExampleOptions& options);
|
||||
|
||||
#endif //TEST_HINGE_TORQUE_H
|
||||
|
||||
Loading…
Add table
Add a link
Reference in a new issue